Articulated boom telehandler

ABSTRACT

A telehandler includes a frame assembly, a series of tractive elements rotatably coupled to the frame assembly, a boom assembly, and an actuator selectively reconfigurable between a locked configuration and an unlocked configuration. The boom assembly includes a lower boom section having a proximal end pivotably coupled to the frame assembly, an intermediate boom section pivotably coupled to a distal end of the lower boom section, and an upper boom section having a proximal end pivotably coupled to the intermediate boom section and a distal end configured to be coupled to an implement. The boom assembly is configured to move freely when the actuator is in the unlocked configuration. In the locked configuration, the actuator is positioned to couple the intermediate boom section to the frame assembly such that the actuator limits rotation of the lower boom section relative to the frame assembly.

CROSS-REFERENCE TO RELATED PATENT APPLICATION

This application is a continuation of U.S. patent application Ser. No.16/119,577, filed Aug. 31, 2018, which claims the benefit of U.S.Provisional Patent Application No. 62/553,630, filed Sep. 1, 2017, bothof which are incorporated herein by reference in their entireties.

BACKGROUND

Telehandlers are a type of mobile vehicle used to move a payload betweenthe ground and an elevated position and/or between ground-levelpositions. Telehandlers include a telescoping boom, on the end of whichis connected an implement, such as a pair of forks. Conventionally, theboom of a telehandler pivots about a horizontal axis located near therear end of the telehandler. Such arrangements provide a limited abilityto lift material over and beyond an obstacle. By way of example, aconventional telehandler has a limited ability to place material insideof an upper floor of a structure. Rather, conventional telehandlers arelimited to placing the material near an external surface of thestructure. Further, increasing the maximum lift height of a conventionaltelehandler requires increasing the overall length of the boom and/oradding additional telescoping sections to the boom. Additionally, in aconventional telehandler, the entire boom is configured to support theweight of the maximum payload despite the fact that, in manycircumstances, the weight of the payload carried by the telehandler is afraction of that of the maximum payload.

SUMMARY

One exemplary embodiment relates to a telehandler including a frameassembly, a series of tractive elements rotatably coupled to the frameassembly, a boom assembly, and an actuator selectively reconfigurablebetween a locked configuration and an unlocked configuration. The boomassembly includes a lower boom section having a proximal end pivotablycoupled to the frame assembly and a distal end opposite the proximalend, an intermediate boom section pivotably coupled to the distal end ofthe lower boom section, and an upper boom section having a proximal endpivotably coupled to the intermediate boom section and a distal endconfigured to be coupled to an implement. The boom assembly isconfigured to move freely when the actuator is in the unlockedconfiguration. In the locked configuration, the actuator is positionedto couple the intermediate boom section to the frame assembly such thatthe actuator limits rotation of the lower boom section relative to theframe assembly.

Another exemplary embodiment relates to a telehandler including a frameassembly, a series of tractive elements rotatably coupled to the frameassembly, a boom assembly, and a controller configured to selectivelyreconfigure the boom assembly between a high lift mode and a highcapacity mode. The boom assembly includes (a) a base boom section havinga proximal end pivotably coupled to the frame assembly and a distal endopposite the proximal end and (b) a telescoping assembly having aproximal end pivotably coupled to the base boom section and a distal endconfigured to be coupled to an implement. The telescoping assemblyincludes at least two telescoping boom sections slidably coupled to oneanother. The base boom section is configured to rotate relative to theframe assembly when the boom assembly is in the high lift mode. Thecontroller is configured to limit movement of the base boom section whenthe boom assembly is in the high capacity mode. The telescoping assemblyis free to rotate relative to the frame assembly in the high capacitymode.

Another exemplary embodiment relates to a boom assembly for atelehandler. The boom assembly includes an intermediate boom section, abase boom section, and upper boom section, an implement, and an actuatorselectively reconfigurable between a locked configuration and anunlocked configuration. The base boom section has a proximal endconfigured to be pivotably coupled to a frame assembly of thetelehandler and a distal end opposite the proximal end of the base boomsection. The distal end of the base boom section is pivotably coupled tothe intermediate boom section such that the base boom section rotatesabout a first axis relative to the intermediate boom section. The upperboom section has a proximal end pivotably coupled to the intermediateboom section such that the upper boom section rotates about a secondaxis relative to the intermediate boom section and a distal end oppositethe proximal end of the upper boom section. The first axis is offsetfrom the second axis. The implement is coupled to the distal end of theupper boom section. The boom assembly is configured to move freely whenthe actuator is in the unlocked configuration. The actuator includes apin positioned to engage the intermediate boom section to preventmovement of the intermediate boom section relative to the frame assemblywhen the actuator is in the locked configuration.

The invention is capable of other embodiments and of being carried outin various ways. Alternative exemplary embodiments relate to otherfeatures and combinations of features as may be recited herein.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure will become more fully understood from the followingdetailed description, taken in conjunction with the accompanyingfigures, wherein like reference numerals refer to like elements, inwhich:

FIG. 1 is a side view of a telehandler, according to an exemplaryembodiment;

FIG. 2 is a rear perspective view of the telehandler of FIG. 1;

FIG. 3 is another side view of the telehandler of FIG. 1;

FIG. 4 is a rear perspective view of a locking mechanism of thetelehandler of FIG. 1, according to an exemplary embodiment;

FIG. 5 is a rear perspective view of the telehandler of FIG. 1;

FIG. 6 is a section view of a telescoping assembly of the telehandler ofFIG. 1, according to an exemplary embodiment;

FIG. 7 is a block diagram illustrating a control system of thetelehandler of FIG. 1, according to an exemplary embodiment;

FIG. 8 is a front perspective view of a telehandler, according toanother exemplary embodiment;

FIG. 9 is another front perspective view of the telehandler of FIG. 8;

FIG. 10 is a front perspective view of a telehandler, according to yetanother exemplary embodiment;

FIG. 11 is a side view of a telehandler, according to yet anotherexemplary embodiment;

FIG. 12 is another side view of the telehandler of FIG. 11; and

FIG. 13 is a rear perspective view of a telehandler, according to yetanother exemplary embodiment.

DETAILED DESCRIPTION

Before turning to the figures, which illustrate the exemplaryembodiments in detail, it should be understood that the presentapplication is not limited to the details or methodology set forth inthe description or illustrated in the figures. It should also beunderstood that the terminology is for the purpose of description onlyand should not be regarded as limiting.

According to an exemplary embodiment, a telehandler includes variouscomponents that improve performance relative to traditional systems. Thetelehandler includes a cabin, from which operation of the telehandler iscontrolled, and a frame assembly that is supported by a series oftractive elements. A boom assembly is pivotably coupled to the frameassembly near the front end of the frame assembly. The boom assemblyincludes a tower boom, an intermediate section, a telescoping assembly,and an implement. The tower boom is pivotably coupled to the frame, theintermediate section is pivotably coupled to the tower section, thetelescoping assembly is pivotably coupled to the intermediate section,and the implement is coupled to a distal end of the telescopingassembly. The telescoping assembly is configured to extend and retract,moving the implement toward or away from the frame assembly. Theimplement is a mechanism configured to handle material, such as a pairof forks, a bucket, a grapple, etc. The telehandler includes actuatorsconfigured to move each individual section of the boom assembly relativeto one another, providing an operator with control over the movement ofthe boom assembly. In some embodiments, the boom assembly is coupled toa turntable to facilitate further rotation of the boom assembly about avertical axis.

The telehandler includes a locking mechanism configured to selectivelyfixedly couple the intermediate section to the frame assembly. With theintermediate section and tower boom in a stored position and the lockingmechanism locked, the intermediate section and the tower boom are fixedrelative to the frame assembly. The telescoping assembly is free torotate, extend, and retract normally about a pin connection between theintermediate section and the telescoping assembly. Accordingly, in thisconfiguration, the boom assembly provides similar functionality to thatof a conventional telehandler. The telehandler may be configured suchthat, in this configuration, the telehandler has a greater weightcapacity than with the tower boom out of the stored position. With thelocking mechanism unlocked, each boom section is free to move inaccordance with operator commands. Rotating the tower boom away from theframe assembly elevates the telescoping assembly, facilitating a higherreach with the implement without additional telescoping sections beingadded to the telescoping assembly. This elevated position of thetelescoping assembly also facilitates increased “up and over” capabilitywhere the tower boom moves the implement primarily upward and thetelescoping assembly moves the implement primarily horizontally. By wayof example, the tower boom may lift the telescoping assembly upward suchthat it can have a near horizontal angle of attack to enter into astructure. Conventional telehandlers are limited in this respect due tothe proximity of the pivot point of their telescoping assemblies to theground. This provides a relatively steep angle of attack that may not besuitable for extending inside of a structure. In some embodiments, thetower boom includes telescoping sections to facilitate further “up andover” capability.

According to the exemplary embodiment shown in FIG. 1, a lift device,shown as telehandler 10, includes a chassis, shown as frame assembly 12,having a front end 14 and a rear end 16. The frame assembly 12 supportsan enclosure, shown as cabin 20, that is configured to house an operatorof the telehandler 10. The telehandler 10 is supported by a plurality oftractive elements 30 that are rotatably coupled to the frame assembly12. One or more of the tractive elements 30 are powered to facilitatemotion of the telehandler 10. A manipulator, shown as boom assembly 100,is pivotably coupled to the telehandler 10 near the front end 14 of theframe assembly 12. The telehandler 10 is configured such that theoperator controls the tractive elements 30 and the boom assembly 100from within the cabin 20 to manipulate (e.g., move, carry, lift,transfer, etc.) a payload (e.g., pallets, building materials, earth,grains, etc.).

Referring to FIG. 2, the frame assembly 12 defines a longitudinalcenterline L that extends along the length of the frame assembly 12. Theboom assembly 100 is approximately centered on the longitudinalcenterline L to facilitate an even weight distribution between the leftand the right sides of the telehandler 10. In one embodiment, thelongitudinal centerline and a centerline of the boom assembly 100 aredisposed within a common plane (e.g., when the boom assembly 100 isstowed, during movement of the boom assembly 100, etc.). The cabin 20 islaterally offset from the longitudinal centerline L. The cabin 20includes a door 22 configured to facilitate selective access into thecabin 20. The door 22 may be located on the lateral side of the cabin 20opposite the boom assembly 100. An enclosure, shown as housing 24, iscoupled to the frame assembly 12. The housing 24 is laterally offsetfrom the longitudinal centerline L in a direction opposite the cabin 20.The housing 24 contains various components of the telehandler 10 (e.g.,the primary driver 32, the pump 34, a fuel tank, a hydraulic fluidreservoir, etc.). The housing 24 may include one or more doors tofacilitate access to components of the primary driver 32 or the pump 34.

Each of the tractive elements 30 may be powered or unpowered. Referringto FIG. 1, telehandler 10 includes a powertrain system including aprimary driver 32 (e.g., an engine). The primary driver 32 may receivefuel (e.g., gasoline, diesel, natural gas, etc.) from a fuel tank andcombust the fuel to generate mechanical energy. According to anexemplary embodiment, the primary driver 32 is a compression-ignitioninternal combustion engine that utilizes diesel fuel. In alternativeembodiments, the primary driver 32 is another type of device (e.g.,spark-ignition engine, fuel cell, etc.) that is otherwise powered (e.g.,with gasoline, compressed natural gas, hydrogen, etc.). As shown in FIG.1, a hydraulic pump, shown as pump 34, receives the mechanical energyfrom the primary driver 32 and provides pressurized hydraulic fluid topower the tractive elements 30 and the other hydraulic components of thetelehandler 10 (e.g., the lower actuator 120, the intermediate actuator122, etc.). The pump 34 may provide a pressurized flow of hydraulicfluid to individual motive drivers (e.g., hydraulic motors) configuredto facilitate independently driving each of the tractive elements 30(e.g., in a hydrostatic transmission configuration). In suchembodiments, the telehandler 10 also includes other components tofacilitate use of a hydraulic system (e.g., reservoirs, accumulators,hydraulic lines, valves, flow control components, etc.). In otherembodiments, the primary driver 32 provides mechanical energy to thetractive elements 30 through another type of transmission. In yet otherembodiments, the telehandler 10 includes an energy storage device (e.g.,a battery, capacitors, ultra-capacitors, etc.) and/or is electricallycoupled to an outside source of electrical energy (e.g., a standardpower outlet coupled to the power grid). In some such embodiments, oneor more of the tractive elements 30 include an individual motive driver(e.g., a motor that is electrically coupled to the energy storagedevice, etc.) configured to facilitate independently driving each oftractive elements 30. The outside source of electrical energy may chargethe energy storage device or power the motive drivers directly.

Referring to FIG. 1, the telehandler 10 includes a pair of supports,shown as outriggers 40. The outriggers 40 are selectively repositionablebetween a stored position and a deployed position, shown in FIG. 1. Insome embodiments, the outriggers 40 are slidably coupled to the frameassembly 12. In other embodiments, the outriggers 40 are pivotablycoupled to the frame assembly 12. In the stored position, the outriggers40 are raised above the ground to facilitate free motion of thetelehandler 10. In the deployed position, the outriggers 40 contact theground, supporting a portion of the weight of the telehandler 10. Theoutriggers 40 increase the overall size of the footprint of thetelehandler 10 that contacts the ground, further increasing the tipresistance of the telehandler 10. The outriggers 40 may each include anactuator (e.g., a hydraulic cylinder, a motor, etc.) configured to movethe outriggers 40 between the stored position and the deployed position.As shown in FIG. 1, the outriggers 40 are configured to raise the frontend 14 off the ground. In other embodiments, another set of outriggers40 lift the rear end 16 alternately or in addition to the front end 14.

Referring again to FIG. 1, the boom assembly 100 includes a lower boomsection, shown as tower boom 110, an upper boom section, shown astelescoping assembly 112, an intermediate boom section, shown asintermediate section 114, coupling the tower boom 110 to the telescopingassembly 112, and an implement 116 coupled to the telescoping assembly112. The boom assemblies may be made from any material (e.g., steel,aluminum, composite, etc.) with any cross section (e.g., square tube,I-beam, C-channel, round tube, etc.) that provides sufficient structuralintegrity to support the desired payload. Each boom section may includeadditional components (e.g., side plates, bosses, bearings, sliders,etc.) that facilitate connection to one another and to other componentsas described herein.

Referring to FIG. 1, the various boom sections are configured to bearticulated by a series of actuators, including a first actuator, shownas lower actuator 120, a second actuator, shown as intermediate actuator122, a third actuator, shown as upper actuator 124, and a fourthactuator, shown as telescoping actuator 126. The actuators areconfigured to control the boom assembly 100 to lift or otherwisemanipulate various loads. As shown in FIG. 1, the actuators arehydraulic cylinders powered by pressurized fluid from the pump 34 thatextend and retract linearly. In such embodiments, the hydrauliccylinders each include a body that defines an interior volume andreceives a shaft. A piston is connected to the shaft and engages aninterior surface of the body, dividing the interior volume of the bodyinto a pair of chambers. Pressurized hydraulic fluid is selectivelypumped (e.g., by pump 34) into each of the chambers to selectivelyexpand or contract the hydraulic cylinder. The hydraulic cylinders mayinclude bosses, devises, or other features to facilitate interfacingwith other components (e.g., the frame assembly 12, the boom sections,etc.). In other embodiments, the actuators are another type of linearactuator (e.g., electrical, pneumatic, etc.) or are rotary actuators.According to the embodiment shown in FIG. 1, each of the boom sectionsand actuators rotate and translate within the plane of FIG. 1.

FIGS. 1-5 show the tower boom 110, according to an exemplary embodiment.The tower boom 110 extends along a longitudinal axis from a first orproximal end 130 to a second or distal end 132. Near the proximal end130, the tower boom 110 defines one or more interfaces, shown asapertures 140. Near the front end 14 of the frame assembly 12, the frameassembly 12 includes a pair of plates 142 spaced equally apart from thelongitudinal centerline L. The plates 142 each define one or moreinterfaces, shown as apertures 144. As shown in FIG. 1, the apertures144 are concentric with one another. The proximal end 130 of the towerboom 110 is received between the plates 142 such that the apertures 140and the apertures 144 are aligned. In other embodiments, the tower boom110 defines a pair of plates that receive a portion of the frameassembly 12 therebetween. A pin member (e.g., a pin, a dowel, a bolt, ashaft, an axle, etc.) extends through the apertures 140 and theapertures 144, pivotably coupling the frame assembly 12 and the towerboom 110. In some embodiments, the pin member is captured (e.g., using acotter pin that extends through the pin member, using a feature on thepin itself, etc.) relative to the frame assembly 12. Accordingly, thetower boom 110 is configured to rotate relative to the frame assembly 12about a laterally-extending axis extending through the centers of theapertures 140 and the apertures 144.

The tower boom 110 is rotatable relative to the frame assembly 12between a stored position (e.g., as shown in FIG. 3), where the towerboom 110 extends approximately horizontally proximate the frame assembly12, and a fully extended position, where the tower boom 110 is rotatedaway from the frame assembly 12. In use, the operator controls the towerboom 110 to rotate to a use position, which may be any position betweenand including the stored and fully extended positions. The exactlocation of the use position may vary throughout operation of thetelehandler 10. The lower actuator 120 is configured to rotate the towerboom 110 between the stored position, the use position, and the fullyextended position. Upon extension of the lower actuator, the tower boom110 is moved away from the stored position and toward the fully extendedposition. The fully extended position is defined where the loweractuator 120 can no longer extend (e.g., due to a finite stroke length,due to controls-induced limits, due to a physical stop, etc.).

Referring to FIG. 1, the lower actuator 120 is pivotably coupled to theframe assembly 12 at one end and to the tower boom 110 at a second endopposite the first end. The frame assembly 12 defines one or moreapertures that correspond with an aperture (e.g., defined in a boss) inthe first end of the lower actuator 120. A pin member extends throughthese corresponding apertures, pivotably coupling the lower actuator 120and the frame assembly 12. The tower boom 110 defines one or moreinterfaces, shown as apertures 146, that correspond with an aperture(e.g., defined in a clevis) in the second end of the lower actuator 120.A pin member extends through the apertures 146 and through thecorresponding aperture in the lower actuator 120, pivotably coupling thetower boom 110 and the lower actuator 120. As shown in FIG. 1, the loweractuator 120 extends through a first side of the tower boom 110 andconnects to the apertures 146 proximate an opposing side of the towerboom 110. Accordingly, a portion of the tower boom 110 may be shaped tofacilitate free movement of the lower actuator 120 relative to the towerboom 110. In other embodiments, the telehandler 10 includes two or morelower actuators 120, each located on either side of the tower boom 110.Placing a lower actuator 120 on both sides of the tower boom 110prevents introducing a twisting moment load upon the tower boom 110.

Referring to FIGS. 1 and 2, the tower boom 110 includes a pair of panels160 near the distal end 132 that are spaced apart from one another. Insome embodiments, the panels 160 are spaced apart an equal distance fromthe longitudinal centerline L. In some embodiments, the panels 160 areconfigured to rest upon the frame assembly 12 when the tower boom 110 isin the stored position. Near the distal end 132, the tower boom 110defines one or more interfaces, shown as apertures 162. In someembodiments, the apertures 162 are defined in the panels 160. Theintermediate section 114 includes a pair of panels 164 spaced apart fromone another. The panels 164 may be separate, or the intermediate section114 may include one or more supporting members extending between thepanels 164, coupling the panels 164 together and strengthening theintermediate section 114. In some embodiments, the panels 164 are spacedapart an equal distance from the longitudinal centerline L. The panels164 each define one or more interfaces, shown as apertures 166. As shownin FIG. 1, the panels 164 are received between the panels 160 such thatthe apertures 162 are aligned with the apertures 166. In otherembodiments, the panels 160 are received between the panels 164. Theapertures 162 and 166 receive one or more pin members, pivotablycoupling the intermediate section 114 to the distal end 132 of the towerboom 110. Accordingly, the intermediate section 114 is configured torotate relative to the tower boom 110 about a laterally-extending axisextending through the centers of the apertures 162 and the apertures166.

The intermediate section 114 is rotatable relative to the tower boom 110between a stored position, shown in FIG. 3, and a fully extendedposition. In use, the operator controls the intermediate section 114 torotate to a use position (e.g., as shown in FIG. 1), which may be anyposition between and including the stored and fully extended positions.The exact location of the use position may vary throughout operation ofthe telehandler 10. In the stored position, the intermediate section 114is rotated toward the tower boom 110. In the use position, theintermediate section 114 is rotated away from the tower boom 110. In theembodiment shown in FIGS. 1-5, the telehandler 10 includes twointermediate actuators 122, each disposed on an opposite side of thelongitudinal centerline L. The intermediate actuators 122 are configuredto rotate the intermediate section 114 between the stored position andthe fully extended position. Upon extension of the intermediateactuators 122, the intermediate section 114 is moved away from thestored position and toward the fully extended position. The fullyextended position is defined where the intermediate actuators 122 can nolonger extend (e.g., due to a finite stroke length, due tocontrols-induced limits, due to a physical stop, etc.).

Referring again to FIG. 1, each intermediate actuator 122 is pivotablycoupled to the tower boom 110 at a first end and to a panel 164 of theintermediate section 114 at a second end opposite the first end. Thetower boom 110 defines one or more interfaces, shown as apertures 170,that correspond with an aperture (e.g., defined in a boss) in the firstend of each of the intermediate actuators to receive a pin member,pivotably coupling the intermediate actuators 122 and the tower boom110. Each panel 164 of the intermediate section 114 defines one or moreinterfaces, shown as apertures 172, that correspond with an aperture(e.g., defined in a clevis) in the second end of each of theintermediate actuators 122. One or more pin members extend through theaperture 172 and through the corresponding apertures in the intermediateactuators 122, pivotably coupling the intermediate section 114 and theintermediate actuator 122. As shown in FIG. 1, the intermediateactuators 122 each extend proximate an outside surface of theintermediate section 114. This facilitates clearance between theintermediate actuators 122 and the upper actuator 124. In otherembodiments, the telehandler 10 includes one or more intermediateactuators 122 that extend between the panels 164.

FIGS. 1-6 show the telescoping assembly 112, according to an exemplaryembodiment. The telescoping assembly 112 extends along a longitudinalaxis from a first or proximal end 180 to a second or distal end 182. Thetelescoping assembly 112 includes one or more telescoping boom sectionsthat telescope relative to one another to vary an overall length of thetelescoping assembly 112. According to the exemplary embodiment shown inFIG. 1, the telescoping assembly 112 includes a base boom section orbase section 190, a first mid boom section or first mid section 192, asecond mid boom section or second mid section 194, and a fly boomsection or fly section 196. The base section 190 receives the first midsection 192, the first mid section 192 receives the second mid section194, and the second mid section 194 receives the fly section 196.Accordingly, each successive section may be smaller than the previousone to facilitate nesting. The telescoping assembly 112 may includesliders, bearings, spacers, or other components to facilitate slidingmotion between each of the sections.

As shown in FIG. 6, the telescoping actuator 126 is coupled to the basesection 190 at a first end and coupled to the first mid section 192 at asecond end opposite the first end. As shown in FIG. 6, the telescopingactuator 126 is positioned outside of the base section 190. In otherembodiments, the telescoping actuator 126 is positioned within the basesection 190. The telescoping actuator 126 facilitates extension andretraction of the telescoping assembly 112. The telescoping actuator 126extends the first mid section 192 when extending and retracts the firstmid section 192 when retracting. A cable 200 couples the base section190 to the proximal end of the second mid section 194, running over apulley 202 coupled to the first mid section 192. A cable 204 couples thefirst mid section 192 to the proximal end of the fly section 196,running over a pulley 206 coupled to the second mid section 194.Accordingly, extending the telescoping actuator 126 produces tension onthe cable 200 and the cable 204, extending the second mid section 194and the fly section 196 simultaneously with the first mid section 192.In some embodiments, the telescoping assembly 112 includes a differentnumber of (e.g., greater or fewer) telescoping boom sections. In otherembodiments, the telescoping assembly 112 uses a different telescopingarrangement. By way of example, the telescoping assembly 112 may includeadditional cables to facilitate powered retraction of the telescopingboom sections.

Referring again to FIG. 1, near the proximal end 180, the base section190 defines one or more interfaces, shown as apertures 210. Each panel164 of the intermediate section 114 defines an interface, shown asaperture 212 that corresponds with the apertures 210. As shown in FIGS.2 and 4, the proximal end 180 of the telescoping assembly 112 isreceived between the panels 164 such that the apertures 210 are alignedwith the apertures 212. In other embodiments, the base section 190includes a pair of plates that receive the intermediate section 114therebetween having a similar alignment of the apertures 210 and theapertures 212. The apertures 210 and the apertures 212 receive one ormore pin members, pivotably coupling the telescoping assembly 112 to theintermediate section 114. Accordingly, the telescoping assembly 112 isconfigured to rotate relative to the intermediate section 114 about alaterally-extending axis extending through the centers of the apertures210 and the apertures 212.

The telescoping assembly 112 is rotatable relative to the intermediatesection 114 between a stored position, shown in FIG. 3, and a fullyextended position. A use position is located at or between the storedposition and the fully extended position. The exact location of the useposition may vary throughout operation of the telehandler 10. In thestored position, the telescoping assembly 112 is rotated toward thetower boom 110 and toward the frame assembly 12. In the fully extendedposition, the telescoping assembly 112 is rotated away from the towerboom 110 and the frame assembly 12. As shown in FIG. 3, with the towerboom 110, the intermediate section 114, and the telescoping assembly 112all in the stored position, the telescoping assembly 112 extendsapproximately parallel to or angled slightly downward in relation to theframe assembly 12. In the embodiment shown in FIGS. 1-5, the telehandler10 includes one upper actuator 124, disposed in approximately the samevertical plane as the longitudinal centerline L. In other embodiments,the upper actuator 124 is located elsewhere and/or the telehandler 10includes multiple upper actuators 124. The upper actuator 124 isconfigured to rotate the telescoping assembly 112 between the storedposition, the fully extended position, and the use position. Uponextension of the upper actuator, the telescoping assembly 112 is movedaway from the stored position and toward the fully extended position.The fully extended position is defined where the upper actuator 124 canno longer extend (e.g., due to a finite stroke length, due tocontrols-induced limits, due to a physical stop, etc.).

Referring to FIG. 1, the upper actuator 124 is pivotably coupled to aportion or member 220 of the intermediate section 114 at a first end andto the telescoping assembly 112 at a second end opposite the first end.The member 220 extends between the panels 164 and is coupled to thepanels 164. The member 220 defines one or more interfaces, shown asapertures 222, that correspond with an aperture (e.g., defined in aboss) in the first end of the upper actuator 124 to receive a pinmember, pivotably coupling the upper actuator 124 and the intermediatesection 114. The base section 190 of the telescoping assembly 112defines one or more interfaces, shown as apertures 224, that correspondwith an aperture (e.g., defined in a clevis) in the second end of theupper actuator 124. A pin member extends through the apertures 224 andthrough the corresponding aperture in the upper actuator 124, pivotablycoupling the telescoping assembly 112 and the upper actuator 124.

Referring to FIG. 1, the implement 116 is coupled to the distal end ofthe fly section 196 of the telescoping assembly 112 with an interface230. The implement 116 may be any type of mechanism used to support,grab, or otherwise interact with the payload. The implement 116 mayinclude one or more of a carriage and/or set of forks (e.g., palletforks, bale forks, etc.), a bucket, a grapple or grab (e.g., a balegrab, a log grab, a shear grab, a grab for use in combination with abucket, etc.), a boom (e.g., a boom supporting a cable used tomanipulate roof trusses), an auger, a concrete bucket, and another typeof implement. The interface 230 extends between the fly section 196 andthe implement 116, coupling the implement 116 to the telescopingassembly 112. In some embodiments, the interface 230 is a quickdisconnect mechanism that facilitates attaching and detaching variousimplements 116 to and from the fly section 196, facilitating using thetelehandler 10 in multiple types of situations. As shown in FIG. 3, thefly section 196 may extend downward, bringing the implement 116 closerto the ground to facilitate interaction with a payload on the ground. Insome embodiments, the telehandler 10 includes actuators to facilitatearticulating (e.g., pivoting, rotating, translating, etc.) the implement116 relative to the fly section 196. In some embodiments, thetelehandler 10 includes components to facilitate powering the implement116. By way of example, hydraulic lines may run through or along theboom assembly 100 to provide pressurized hydraulic fluid from the pump34 to the implement 116. By way of another example, wires may runthrough or along the boom assembly 100 to provide electrical power tothe implement 116.

Referring to FIG. 1, the telescoping assembly 112 is defined as havingan angle of attack θ. The angle of attack θ is defined as the anglebetween a plane G that extends parallel to the ground or other supportsurface of the telehandler 10 and an axis T along which the telescopingassembly 112 extends and retracts. The angle of attack θ provides anindication of the absolute orientation of the telescoping assembly 112.A negative angle of attack θ indicates that the telescoping assembly 112is pointing toward the ground, and a positive angle of attack θindicates that the telescoping assembly 112 is pointing away from theground. An angle of attack θ of zero indicates that the telescopingassembly 112 is parallel to the ground.

The telehandler 10 is configured to be operated in at least two modes ofoperation including a high capacity mode and a high lift mode. In thehigh capacity mode, the tower boom 110 and the intermediate section 114remain in their respective stored positions. In some embodiments, thelower actuator 120 and the intermediate actuator 122 are used to holdthe tower boom 110 and the intermediate section 114 stationary. As shownin FIG. 3, in the high capacity mode, the telescoping assembly 112pivots near the rear end 16 of the frame assembly 12 and pivots atapproximately the height of the frame assembly 12. Accordingly, theangle of attack θ may be limited in the negative direction due tointerference between the telescoping assembly 112 and the frame assembly12 or the tower boom 110. In the high capacity mode, the upper actuator124 and the telescoping actuator 126 are used to rotate and telescopethe telescoping assembly 112, respectively, to manipulate the implement116 and any payload supported by the implement 116. When lifting, theoutriggers 40 may be moved to the deployed position to further stabilizethe telehandler 10. According to one example of how the high capacitymode may be used, an operator may use the telehandler 10 to move a haybale into storage. An operator may drive the telehandler 10 up to a haybale with the telescoping assembly 112 in the stored position and fullycollapsed. With the implement 116 near the ground, the operator maycontrol the boom assembly 100 and/or the tractive elements 30 to engagethe implement 116 with the hay bale. The operator may then rotate thetelescoping assembly 112 upward, away from the frame assembly 12 andextend the telescoping assembly 112 to move the hay bale upward into astructure for storage.

In the high lift mode, an operator controls the rotational movement ofthe tower boom 110, the intermediate section 114, and the telescopingassembly 112 and the extension and retraction of the telescopingassembly 112. The lower actuator 120 is used to rotate the tower boom110 relative to the frame assembly 12. The intermediate actuator 122 isused to rotate the intermediate section 114 relative to the tower boom110. The upper actuator 124 is used to rotate the telescoping assembly112 relative to the intermediate section 114. The telescoping actuator126 is used to extend and retract the telescoping assembly 112. As shownin FIGS. 1-3, rotating the tower boom 110 away from the stored positionelevates the telescoping assembly 112 and moves the point of rotation ofthe telescoping assembly 112 forward. One or both of the intermediateactuator 122 and the upper actuator 124 are used to rotate thetelescoping assembly 112 upward or downward. In the high lift mode, theangle of attack θ may reach much larger negative values than in the highcapacity mode due to the elevated position of the telescoping assembly112. Multiple actuators may be activated simultaneously to maintain adesired angle of attack θ.

In the high lift mode, the boom assembly 100 can reach a greater maximumload placing height (e.g., 70′) than in the high capacity mode due tothe added elevation of the telescoping assembly 112 provided by thetower boom 110. Conventionally, to reach such a distance, additionaltelescoping sections would be added to a boom assembly, increasing thecomplexity of the boom assembly, or the boom assembly would belengthened, increasing the overall length of the telehandler.Additionally, in the high lift mode, the telehandler 10 has “up andover” capability that is not available in conventional telehandlers. Byway of example, in some instances, it is desirable to move a payloadonto an upper floor of a structure from the exterior of the structure.Conventional telehandlers require a very steep angle of attack to reachan upper floor of a structure with a telescoping boom coupled directlyto a frame. Such a steep angle of attack is not suitable for moving apayload into an upper floor of a structure, as further extension of theboom into the building results in the implement being raised asignificant amount, potentially colliding with part of the structureabove the desired floor. Because the tower boom 110 of the telehandler10 elevates the telescoping assembly 112, the angle of attack θ requiredto reach a given floor is closer to zero than that of a conventionaltelehandler. This shallow angle of attack θ facilitates extending theimplement 116 further into a structure than a conventional telehandlerfor a given increase in elevation of the implement 116.

In some embodiments, the telehandler 10 is configured to support agreater load (i.e., more weight) when in the high capacity mode thanwhen in the high lift mode. In many applications, the extended reach and“up and over” capability of the high lift mode are not necessary. Insome such applications, the telehandler 10 is required to support arelatively large load. Accordingly, to suit such applications, it isdesirable to increase the capacity of the components used in the highcapacity mode compared to the components used only in the high liftmode. This reduces the weight and cost of the telehandler 10 withoutsignificantly affecting the performance of the telehandler 10. In suchembodiments, the tower boom 110, lower actuator 120, and intermediateactuators 122 may be configured to support a lesser load (e.g., may bemade with less material, may be configured to output a lesser force,etc.) than the telescoping assembly 112 and the upper actuator 124.Placement of the tower boom 110 and the intermediate section 114 nearthe frame assembly 12 also lowers the center of gravity of thetelehandler 10, further increasing the tip resistance of the telehandler10. Accordingly, a capacity of the boom assembly 100 (e.g., the maximumweight of the payload that the implement 116 can support) is greater inthe high capacity mode than in the high lift mode.

Referring to FIG. 4, the telehandler 10 includes a locking mechanism240. The locking mechanism 240 is coupled to the frame assembly 12 andis actuatable between a locked configuration and an unlockedconfiguration. In some embodiments, the locking mechanism 240 includes ahydraulic actuator. Each of the panels 164 of the intermediate section114 defines an aperture, shown as aperture 242. With the tower boom 110and the intermediate section 114 in their respective stored positions,the apertures 242 are configured to align with the locking mechanism240. In the locked configuration, a pair of pins extend laterallyoutward from a body of the locking mechanism 240 to extend into and/orthrough the apertures 242, engaging the intermediate section 114 andlocking the boom assembly 100 in the high capacity configuration. Whenin the locked configuration, the locking mechanism 240 fixedly couplesthe tower boom 110 and the intermediate section 114 to the frameassembly 12, causing the tower boom 110 and the intermediate section 114to act as members of the frame assembly 12. This significantly increasesthe strength of the frame assembly 12, further increasing the capacityof the telehandler 10 in the high capacity mode. In the unlockedconfiguration, the pins retract into the body, and the boom assembly 100is free to move. In some embodiments, the frame assembly 12 includes apair of plates 244 that extend between the panels 164 of theintermediate section 114 and the locking mechanism 240. The pins of thelocking mechanism 240 extend through an aperture 246 defined by eachplate 244 and into and/or through the apertures 242 such that forceapplied to the pins by the intermediate section 114 is applied directlyto the plates 244 instead of passing through the body of the hydraulicactuator and into the frame assembly 12. In some embodiments, the pinsof the locking mechanism 240 engage the tower boom 110 directly insteadof or in addition to the intermediate section 114.

Referring to FIG. 7, the telehandler 10 includes a control system 300configured to control the operation of the telehandler 10. The controlsystem 300 includes a controller 302 including a processor 304 and amemory 306. The processor 304 is configured to issue commands to andprocess information from other components. The processor 304 may beimplemented as a specific purpose processor, an application specificintegrated circuit (ASIC), one or more field programmable gate arrays(FPGAs), a group of processing components, or other suitable electronicprocessing components. The memory 306 is one or more devices (e.g., RAM,ROM, flash memory, hard disk storage) for storing data and computer codefor completing and facilitating the various user or client processes,layers, and modules described in the present disclosure. The memory 306may be or include volatile memory or non-volatile memory and may includedatabase components, object code components, script components, or anyother type of information structure for supporting the variousactivities and information structures of the inventive conceptsdisclosed herein. The memory 306 is communicably connected to theprocessor 304 and includes computer code or instruction modules forexecuting one or more processes described herein.

Referring again to FIG. 7, the controller 302 controls the operation ofthe lower actuator 120, the intermediate actuator 122, the upperactuator 124, the telescoping actuator 126, the primary driver 32, andthe locking mechanism 240. Although some connections are not shown inFIG. 7, it should be understood that the pump 34 and/or the primarydriver 32 may be configured to provide power to the actuators, theoutriggers 40, the tractive elements 30, and the locking mechanism 240.In some embodiments, the controller 302 interfaces with valves thatcontrol the flow of hydraulic fluid to the various hydraulically-poweredcomponents of the telehandler 10. The controller 302 is configured toreceive information from length sensors 320 and pressure sensors 322 ineach actuator, a lock sensor 324 coupled to the locking mechanism 240,one or more outrigger sensors 326 coupled to the outriggers 40, agyroscopic sensor 328, and a user interface 330. The user interface 330may be configured to provide information to and receive information froman operator. Accordingly, the user interface 330, may include screens,buttons, switches, joysticks, or other conventional types of interfacedevices. The user interface 330 may be disposed within the cabin 20.

The controller 302 is configured to use the length sensors 320 todetermine a current length of each of the actuators. The length sensors320 may be sensors configured to sense a length of each actuatordirectly (e.g., a linear variable differential transformer) or sensorsconfigured to sense other information usable to determine a length ofeach actuator indirectly (e.g., a rotary potentiometer measuring anangular position of a boom section). In some embodiments, the geometryof the boom assembly 100 is used to generate a mathematical modelrelating the current length of each of the actuators to an orientationand position of each part of the boom assembly 100. The controller 302may use this information in a closed-loop control system controlling theactuation of the boom assembly 100. By way of example, the controller302 may be configured to maintain a desired angle of attack θ of thetelescoping assembly 112 while raising or lowering the telescopingassembly 112.

In some embodiments, the control system 300 includes pressure sensors322 configured to measure a current pressure of the hydraulic fluidwithin each of the actuators. In some embodiments, the geometry of theboom assembly 100 is used to generate a mathematical model relating thecurrent pressure in each of the actuators to the weight of the payloadsupported by the implement 116. In other embodiments, the controller 302uses a different type of sensor to determine the weight of the payload.By way of example, the control system 300 may include one or more loadcells on the pins of the locking mechanism 240 that sense the weightapplied to the pins by the tower boom 110 or intermediate section 114.The controller 302 may use the current orientation and position of eachpart of the boom assembly 100 in addition to the information from thesevarious types of sensors when determining the weight of the payload.

The controller 302 may be configured to include an interlock system thatselectively prevents switching from the high capacity mode to the highlift mode. Before changing to the high lift mode, the controller 302 maycheck a series of conditions. If any of these conditions are not met,the controller 302 may prevent entering the high lift mode (e.g., bypreventing reconfiguring of the locking mechanism 240 to the unlockedconfiguration, by preventing movement of the lower actuator 120 and theintermediate actuators 122, etc.). The lock sensor 324 is configured todetermine if the locking mechanism 240 is in the unlocked configurationor the locked configuration. The controller 302 may check if the weightof the payload is above a predetermined threshold weight. If the weightis above this value, the controller 302 may prevent the telehandler 10from changing to the high lift mode. The controller 302 may use theoutrigger sensors 326 to determine if the outriggers 40 are in thedeployed position and supporting the telehandler 10. Accordingly, theoutrigger sensors 326 may measure the position of the outriggers 40and/or the weight supported by the outriggers. If the outriggers 40 arenot in the correct position or are not supporting enough weight (e.g.,experiencing less than a threshold force), the controller 302 mayprevent the telehandler 10 from changing to the high lift mode. Thegyroscopic sensor 328 may be configured to determine an absolute angularorientation of the telehandler 10 (i.e., an orientation of thetelehandler 10 relative to the direction of gravity). Accordingly, thegyroscopic sensor 328 may be fixedly coupled to the frame assembly 12.If the telehandler 10 is outside a predetermined range of absoluteangular orientations (e.g., more than a threshold angle offset from alevel orientation (e.g., in the roll direction, in the pitch direction,etc.)), the controller 302 may prevent the telehandler 10 from changingto the high lift mode. This interlock system limits the potential of thetelehandler 10 to tip and prevents the tower boom 110, the intermediatesection 114, the lower actuator 120, and the intermediate actuators 122from being overloaded.

Referring to FIGS. 8 and 9, a telehandler 400 is shown as an alternativeembodiment to the telehandler 10. The telehandler 400 may besubstantially similar to the telehandler 10 except as otherwisespecified herein. The telehandler 400 includes a support structure,shown as frame assembly 410. The frame assembly 410 includes a chassis,shown as base frame assembly 412, having a front end 414 and a rear end416 and that is supported by tractive elements 430. The base frameassembly 412 is directly coupled to a housing 424 containing a primarydriver 432 and a pump 434. Near the front end 414 and the rear end 416,the base frame assembly 412 is directly coupled to outriggers 40 thatare actuated by an actuator 442. The telehandler 400 further includes acabin 420 and a boom assembly 500, and the frame assembly 410 furtherincludes a platform, shown as turntable 450. Instead of directlycoupling to the base frame assembly 412, the cabin 420 and the boomassembly 500 are directly coupled to the turntable 450. The turntable450 is rotatable relative to the base frame assembly 412 about avertical axis. In some embodiments, the turntable 450 is configured torotate 360 degrees or more. The telehandler 400 includes an actuator(e.g., a hydraulic motor, an electric motor, a hydraulic cylinder, etc.)configured to rotate the turntable 450 relative to the base frameassembly 412 and may include a sensor configured to measure a rotationalposition of the turntable 450. Incorporation of the turntable 450facilitates moving a payload circumferentially around a point withouthaving to readjust the orientation of the base frame assembly 412.

The boom assembly 500 includes a tower boom 510, a telescoping assembly512, an intermediate section 514, and an implement 516. A proximal end530 of the tower boom 510 is pivotably coupled to a front end 452 of theturntable 450 (e.g., using as similar connection arrangement as theframe assembly 12 and the tower boom 110). A lower actuator 520, a pairof intermediate actuators 522, an upper actuator 524, and a telescopingactuator 526 actuate the boom assembly 500. The telescoping assembly 512includes a base section 590, a first mid section 592, a second midsection 594, a fly section 596, and an interface 630 in a similararrangement to the telescoping assembly 112. However, the telescopingassembly 512 further includes a third mid boom section, shown as thirdmid section 598, extending between the second mid section 594 and thefly section 596. Accordingly, the telescoping assembly 512 may includean additional cable and pulley arrangement to facilitate extension ofthe telescoping assembly 512. The third mid section 598 increases thelength of the telescoping assembly 512 when fully extended.

Referring to FIG. 10, a telehandler 800 is shown as an alternativeembodiment to the telehandler 10. The telehandler 800 may besubstantially similar to the telehandler 10 except as otherwisespecified herein. The telehandler 800 includes a frame assembly 812having a front end 814 and a rear end 816 and that is supported bytractive elements 830. The frame assembly 812 is coupled to a housing824 containing a primary driver 832 and a pump 834. The telehandler 800further includes a cabin 820 and a boom assembly 900 coupled to theframe assembly 812.

Referring again to FIG. 10, the boom assembly 900 includes a tower boom910, a telescoping assembly 912, an intermediate section 914, and animplement 916. A lower actuator 920 rotates the tower boom 910 relativeto the frame assembly 812. An intermediate actuator 922 rotates theintermediate section 914 relative to the tower boom 910. An upperactuator 924 rotates the telescoping assembly 912 relative to theintermediate section 914. A telescoping actuator 926 extends andretracts the telescoping assembly 912. In the embodiment shown in FIG.10, the tower boom 910 is configured to telescope. Accordingly, thetelehandler 800 further includes an actuator, shown as telescopingactuator 928, configured to extend a base boom section 934 and a flyboom section 936 relative to one another. The base boom section 934 ispivotably coupled to the frame assembly 812, and the fly boom section936 is pivotably coupled to the intermediate section 914. As shown inFIG. 10, the telescoping actuator 928 is located inside of the towerboom 910. The telescoping assembly 912 includes a base section 990 and afly section 996 configured to telescope relative to one another,omitting the mid boom sections shown in other embodiments. An interface1030 couples the implement 916 to the fly section 996.

Referring to FIGS. 11 and 12, a telehandler 1100 is shown as analternative embodiment to the telehandler 10. The telehandler 1100 maybe substantially similar to the telehandler 10 except as otherwisespecified herein. The telehandler 1100 includes a frame assembly 1112having a front end 1114 and a rear end 1116 and that is supported bytractive elements 1130. The frame assembly 1112 may be coupled to ahousing containing a primary driver and a pump. The telehandler 1100further includes a cabin 1120 and a boom assembly 1200 coupled to theframe assembly 1112. FIG. 11 shows the boom assembly 1200 in a collapsedor stored configuration, and FIG. 12 shows the boom assembly 1200extended into a use configuration.

Referring again to FIGS. 11 and 12, the boom assembly 1200 includes atower boom 1210, a telescoping assembly 1212, an intermediate section1214, and an implement 1216. A lower actuator 1220 rotates the towerboom 1210 relative to the frame assembly 1112. An upper actuator 1224rotates the telescoping assembly 1212 relative to the intermediatesection 1214. A telescoping actuator 1226 extends and retracts thetelescoping assembly 1212. In the embodiment shown in FIGS. 11 and 12,the tower boom 1210 includes an upper member 1234 and a lower member1236. The upper member 1234 and the lower member 1236 are both pivotablycoupled to the frame assembly 1112 and the intermediate section 1214,forming a four bar linkage. Accordingly, the intermediate section 1214and the tower boom 1210 have a fixed range of motion relative to oneanother (i.e., motion of one causes a predefined motion of the other).The lower actuator 1220, which may be coupled to either the upper member1234 or the lower member 1236, controls the motion of the tower boom1210 and the intermediate section 1214, and the intermediate actuator isomitted. The telescoping assembly 1212 includes a base section 1290 anda fly section 1296 configured to telescope relative to one another,omitting the mid boom sections shown in other embodiments. An interface1330 couples the implement 1216 to the fly section 1296.

Referring to FIG. 13, a telehandler 1400 is shown as an alternativeembodiment to the telehandler 10. The telehandler 1400 may besubstantially similar to the telehandler 10 except as otherwisespecified herein. The telehandler 1400 includes a frame assembly 1412having a front end 1414 and a rear end 1416 and that is supported bytractive elements 1430. The frame assembly 1412 may be coupled to ahousing containing a primary driver and a pump. The telehandler 1400further includes a cabin 1420 and a boom assembly 1500 coupled to theframe assembly 1412. In some embodiments, the telehandler 1400 includesa turntable similar to the turntable 450 to facilitate rotation of theboom assembly 1500 about a vertical axis. In such embodiments, the boomassembly 1500 is coupled to a rear end of the turntable.

Referring again to FIG. 13, the boom assembly 1500 includes a tower boom1510, a telescoping assembly 1512, an intermediate section 1514, and animplement 1516. Instead of coupling near the front end 1414 of the frameassembly 1412, similar to the telehandler 10, the tower boom 1510 ispivotably coupled to the rear end 1416. In the stored position, thetower boom 1510 extends toward the front end 1414. The intermediatesection 1514 is longer than the intermediate section 114 to facilitateconnecting to the telescoping assembly 1512 in a similar location to thetelehandler 10. When in the stored position, the intermediate section1514 extends toward the rear end 1416, lying atop the tower boom 1510. Alower actuator rotates the tower boom 1510 relative to the frameassembly 1412. An intermediate actuator 1522 rotates the intermediatesection 1514 relative to the tower boom 1510. An upper actuator 1524rotates the telescoping assembly 1512 relative to the intermediatesection 1514. A telescoping actuator 1526 extends and retracts thetelescoping assembly 1512. The telescoping assembly 1512 includes a basesection 1590 and a fly section 1596 configured to telescope relative toone another, omitting the mid boom sections shown in other embodiments.An interface 1630 couples the implement 1516 to the fly section 1596.

The present disclosure contemplates methods, systems, and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Wheninformation is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a machine, the machine properly views theconnection as a machine-readable medium. Thus, any such connection isproperly termed a machine-readable medium. Combinations of the above arealso included within the scope of machine-readable media.Machine-executable instructions include, for example, instructions anddata which cause a general purpose computer, special purpose computer,or special purpose processing machines to perform a certain function orgroup of functions.

As utilized herein, the terms “approximately,” “about,” “substantially,”and similar terms are intended to have a broad meaning in harmony withthe common and accepted usage by those of ordinary skill in the art towhich the subject matter of this disclosure pertains. It should beunderstood by those of skill in the art who review this disclosure thatthese terms are intended to allow a description of certain featuresdescribed and claimed without restricting the scope of these features tothe precise numerical ranges provided. Accordingly, these terms shouldbe interpreted as indicating that insubstantial or inconsequentialmodifications or alterations of the subject matter described and claimedare considered to be within the scope of the invention as recited in theappended claims.

It should be noted that the terms “exemplary” and “example” as usedherein to describe various embodiments is intended to indicate that suchembodiments are possible examples, representations, and/or illustrationsof possible embodiments (and such term is not intended to connote thatsuch embodiments are necessarily extraordinary or superlative examples).

The terms “coupled,” “connected,” and the like, as used herein, mean thejoining of two members directly or indirectly to one another. Suchjoining may be stationary (e.g., permanent, etc.) or moveable (e.g.,removable, releasable, etc.). Such joining may be achieved with the twomembers or the two members and any additional intermediate members beingintegrally formed as a single unitary body with one another or with thetwo members or the two members and any additional intermediate membersbeing attached to one another.

References herein to the positions of elements (e.g., “top,” “bottom,”“above,” “below,” “between,” etc.) are merely used to describe theorientation of various elements in the figures. It should be noted thatthe orientation of various elements may differ according to otherexemplary embodiments, and that such variations are intended to beencompassed by the present disclosure.

Also, the term “or” is used in its inclusive sense (and not in itsexclusive sense) so that when used, for example, to connect a list ofelements, the term “or” means one, some, or all of the elements in thelist. Conjunctive language such as the phrase “at least one of X, Y, andZ,” unless specifically stated otherwise, is otherwise understood withthe context as used in general to convey that an item, term, etc. may beeither X, Y, Z, X and Y, X and Z, Y and Z, or X, Y, and Z (i.e., anycombination of X, Y, and Z). Thus, such conjunctive language is notgenerally intended to imply that certain embodiments require at leastone of X, at least one of Y, and at least one of Z to each be present,unless otherwise indicated.

It is important to note that the construction and arrangement of thesystems as shown in the exemplary embodiments is illustrative only.Although only a few embodiments of the present disclosure have beendescribed in detail, those skilled in the art who review this disclosurewill readily appreciate that many modifications are possible (e.g.,variations in sizes, dimensions, structures, shapes and proportions ofthe various elements, values of parameters, mounting arrangements, useof materials, colors, orientations, etc.) without materially departingfrom the novel teachings and advantages of the subject matter recited.For example, elements shown as integrally formed may be constructed ofmultiple parts or elements. It should be noted that the elements and/orassemblies of the components described herein may be constructed fromany of a wide variety of materials that provide sufficient strength ordurability, in any of a wide variety of colors, textures, andcombinations. Accordingly, all such modifications are intended to beincluded within the scope of the present inventions. Othersubstitutions, modifications, changes, and omissions may be made in thedesign, operating conditions, and arrangement of the preferred and otherexemplary embodiments without departing from scope of the presentdisclosure or from the spirit of the appended claim.

The invention claimed is:
 1. A telehandler, comprising: a frameassembly; a plurality of tractive elements rotatably coupled to theframe assembly; a boom assembly, comprising: a lower boom section havinga proximal end pivotably coupled to the frame assembly and a distal endopposite the proximal end; an intermediate boom section pivotablycoupled to the distal end of the lower boom section; and an upper boomsection having a proximal end pivotably coupled to the intermediate boomsection and a distal end configured to be coupled to an implement; andan actuator selectively reconfigurable between a locked configurationand an unlocked configuration, wherein the boom assembly is configuredto move freely when the actuator is in the unlocked configuration, andwherein, in the locked configuration, the actuator is positioned tocouple the intermediate boom section to the frame assembly such that theactuator limits rotation of the lower boom section relative to the frameassembly.
 2. The telehandler of claim 1, wherein the lower boom sectionis configured to rotate relative to the intermediate boom section abouta first axis, wherein the upper boom section is configured to rotaterelative to the intermediate boom section about a second axis, andwherein the first axis is not aligned with the second axis.
 3. Thetelehandler of claim 2, wherein the upper boom section includes at leasttwo telescoping boom sections slidably coupled to one another andconfigured to vary an overall length of the upper boom section.
 4. Thetelehandler of claim 1, wherein at least one of: the intermediate boomsection defines a first aperture, and the actuator extends into thefirst aperture when the actuator is in the locked configuration; and theframe assembly defines a second aperture, and the actuator extends intothe second aperture when the actuator is in the locked configuration. 5.The telehandler of claim 4, wherein the intermediate boom sectiondefines the first aperture, wherein the frame assembly defines thesecond aperture, and wherein the actuator extends into both the firstaperture and the second aperture when the actuator is in the lockedconfiguration.
 6. The telehandler of claim 1, wherein the actuator isdirectly coupled to the frame assembly and the intermediate boom sectionat least when the actuator is in the locked configuration.
 7. Thetelehandler of claim 1, wherein the actuator is a hydraulic actuator. 8.The telehandler of claim 1, wherein the frame assembly includes a baseframe assembly and a turntable rotatably coupled to the base frameassembly, wherein the tractive elements are coupled to the base frameassembly, and wherein a cabin configured to house an operator and theproximal end of the lower boom section are coupled to the turntable. 9.The telehandler of claim 1, further comprising a controller operativelycoupled to the actuator, wherein the controller is configured to preventthe actuator from changing from the locked configuration to the unlockedconfiguration based on at least one of: a weight of a payload supportedby the implement; an orientation of the frame assembly relative to alevel orientation; a position of an outrigger coupled to the frameassembly; and a portion of the weight of the telehandler supported bythe outrigger.
 10. A telehandler, comprising: a frame assembly; aplurality of tractive elements rotatably coupled to the frame assembly;a boom assembly, comprising: a base boom section having a proximal endpivotably coupled to the frame assembly and a distal end opposite theproximal end; and a telescoping assembly having a proximal end pivotablycoupled to the base boom section and a distal end configured to becoupled to an implement, wherein the telescoping assembly includes atleast two telescoping boom sections slidably coupled to one another; anda controller configured to selectively reconfigure the boom assemblybetween a high lift mode and a high capacity mode, wherein the base boomsection is free to rotate relative to the frame assembly when the boomassembly is in the high lift mode, wherein the controller is configuredto limit movement of the base boom section when the boom assembly is inthe high capacity mode, and wherein the telescoping assembly is free torotate relative to the frame assembly when the boom assembly is in thehigh capacity mode.
 11. The telehandler of claim 10, further comprisingan actuator coupled to the base boom section and the frame assembly,wherein the actuator is configured to rotate the base boom sectionrelative to the frame assembly, and wherein the controller is configuredto limit movement of the actuator when the boom assembly is in the highcapacity mode.
 12. The telehandler of claim 10, further comprising anactuator operatively coupled to the controller, wherein the actuator ispositioned to selectively engage at least one of the boom assembly andthe frame assembly to prevent movement of the base boom section relativeto the frame assembly, and wherein the controller is configured tocontrol the actuator to engage the at least one of the boom assembly andthe frame assembly when the boom assembly is in the high capacity mode.13. The telehandler of claim 10, further comprising an outrigger coupledto the frame assembly and an outrigger sensor operatively coupled to thecontroller, wherein the outrigger is selectively reconfigurable betweena stored position and a deployed position, wherein in the deployedposition the outrigger engages the ground to support a portion of aweight of the telehandler, wherein the outrigger sensor is configured toprovide at least one of (a) information relating to a position of theoutrigger and (b) information relating to a weight supported by theoutrigger, and wherein at least one of: the controller is configured toprevent the boom assembly from exiting the high capacity mode if theoutrigger is not in the deployed position; and the controller isconfigured to prevent the boom assembly from exiting the high capacitymode if the weight supported by the outrigger is less than a thresholdweight.
 14. The telehandler of claim 10, further comprising a sensoroperatively coupled to the controller and configured to provideinformation relating to an angular orientation of the frame assembly,wherein the controller is configured to prevent the boom assembly fromexiting the high capacity mode if the angular orientation of the frameassembly is outside of a predetermined range of angular orientations.15. The telehandler of claim 14, wherein the controller is configured toprevent the boom assembly from exiting the high capacity mode if theangular orientation of the frame assembly is offset more than athreshold angle from a level orientation.
 16. The telehandler of claim10, further comprising a sensor operatively coupled to the controllerand configured to provide information relating to a weight of a payloadsupported by the implement, and wherein the controller is configured toprevent the boom assembly from exiting the high capacity mode if theweight of the payload is greater than a threshold weight.
 17. Thetelehandler of claim 10, wherein the boom assembly further comprises anintermediate boom section, and wherein the distal end of the base boomsection and the proximal end of the telescoping assembly are coupled tothe intermediate boom section such that the telescoping assembly isindirectly coupled to the base boom section.
 18. The telehandler ofclaim 10, wherein the frame assembly includes a base frame assembly anda turntable rotatably coupled to the base frame assembly, wherein thetractive elements are coupled to the base frame assembly, and wherein acabin configured to house an operator and the proximal end of the baseboom section are coupled to the turntable.
 19. A boom assembly for atelehandler, comprising: an intermediate boom section; a base boomsection having: a proximal end configured to be pivotably coupled to aframe assembly of the telehandler; and a distal end opposite theproximal end of the base boom section, wherein the distal end of thebase boom section is pivotably coupled to the intermediate boom sectionsuch that the base boom section rotates about a first axis relative tothe intermediate boom section; an upper boom section having: a proximalend pivotably coupled to the intermediate boom section such that theupper boom section rotates about a second axis relative to theintermediate boom section, wherein the first axis is offset from thesecond axis; and a distal end opposite the proximal end of the upperboom section; an implement coupled to the distal end of the upper boomsection; and an actuator selectively reconfigurable between a lockedconfiguration and an unlocked configuration, wherein the boom assemblyis configured to move freely when the actuator is in the unlockedconfiguration, and wherein the actuator includes a pin positioned toengage the intermediate boom section to prevent movement of theintermediate boom section relative to the frame assembly when theactuator is in the locked configuration.
 20. The boom assembly of claim19, wherein the actuator is positioned to engage both the frame assemblyand the intermediate boom section to prevent movement of theintermediate boom section and the base boom section relative to theframe assembly when the actuator is in the locked configuration.